RESOLUTION OF SINGULAR CONFIGURATION SPACE OF 3/6-SPS PARALLEL MANIPULATOR USING AN EQUIVALENT SC SIMULATION MECHANISM

摘要

The determination of the 6-dimensional singular configurations (SC) space of 3/6-SPS Stewart parallel manipulator is a very important and quite complicated problem. For a long time, its developments, however, have been very limited, especially the general-linear complex-SC (GSC). Currently, the Jacobian matrix and the Grassmann line geometry have been used to solve the SC space of the Stewart parallel robot. However, these two approaches are not straightforward. In this paper, a novel computer aided geometric approach is proposed for solving the 6-dimensional SC space of the 3/6-SPS Stewart parallel manipulator. First, a simulation mechanism of the 3/6-SPS parallel manipulator is created. Second, its equivalent SC simulation mechanism is created. Third, from the equivalent SC simulation mechanism, some analytical geometry formulas for solving 6-dimension SC space are derived. Finally, some SC space characteristics are analyzed, and some important developments are achieved.